Longterm schedule optimization of an underground mine under geotechnical and ventilation constraints using SOT

Long-term mine scheduling is complex as well time and labour intensive. Yet in the mainstream of the mining industry, there is no computing program for schedule optimization and, in consequence, schedules are still created manually. The objective of this study was to compare a base case schedule generated with the Enhanced Production Scheduler (EPS®) and an optimized schedule generated with the Schedule Optimization Tool (SOT). The intent of having an optimized schedule is to improve the project value for underground mines. This study shows that SOT generates mine schedules that improve the Net Present Value (NPV) associated with orebody extraction. It does so by means of systematically and automatically exploring the options to vary the sequence and timing of mine activities, subject to constraints. First, a conventional scheduling method (EPS®) was adopted to identify a schedule of mining activities that satisfied basic sets of constraints, including physical adjacencies of mining activities and operational resource capacity. Additional constraint scenarios explored were geotechnical and ventilation, which negatively effect development rates. Next, the automated SOT procedure was applied to determine whether the schedules could be improved upon. It was demonstrated that SOT permitted the rapid re-assessment of project value when new constraint scenarios were applied. This study showed that the automated schedule optimization added value to the project every time it was applied. In addition, the reoptimizing and re-evaluating was quickly achieved. Therefore, the tool used in this research produced more optimized schedules than those produced using conventional scheduling methods.Master of Applied Science (MASc) in Natural Resources Engineerin

Otimização do teor de corte e do sequenciamento de minas subterrâneas

Orientador: Priscila Cristina Berbert RampazzoDissertação (mestrado profissional) - Universidade Estadual de Campinas, Instituto de Matemática, Estatística e Computação CientíficaResumo: Métodos de lavra subterrânea são aplicados na extração de vários metais e minerais. O planejamento de métodos subterrâneos difere do planejamento de métodos de superfície pelo fato de que não é necessário extrair todas as áreas de produção dentro dos limites econômicos finais para se ter uma sequência factível, ou seja, nos métodos subterrâneos é fisicamente possível que algumas áreas permaneçam não lavradas mesmo estando dentro do limites econômicos finais. O planejamento estratégico é a área central do planejamento de longo prazo de uma mina e visa definir estratégias de escala de produção, métodos de lavra e de beneficiamento mineral, selecionar as áreas que serão lavradas e otimizar a sequência de lavra destas áreas de produção. Para garantir a viabilidade econômica do empreendimento, o planejamento estratégico deve considerar as características-chave dos empreendimentos de mineração, que são: a necessidade de capital intensivo, o longo período de retorno do investimento e o ativo (reserva) limitado. Essas características devem ser consideradas durante o processo de valoração de um empreendimento mineiro, que normalmente é feito através do cálculo do VPL, valor presente líquido. Dentre as principais alavancas do planejamento estratégico, o teor de corte utilizado na seleção dos blocos que serão lavrados e o sequenciamento de mina são os que geram maior número de opções, fazendo com que avaliações de cenários demandem muito tempo e se tornem inviáveis na prática dada a necessidade de respostas rápidas para tomadas de decisão. Neste trabalho, três diferentes modelos matemáticos são propostos para abordar, de forma conjunta, o problema da seleção dos blocos de lavra de uma mina subterrânea e a otimização do sequenciamento destes blocos. Tais modelos consideram o VPL como principal objetivo a ser maximizado e resultam no uso do teor de corte como fator que equilibra as capacidades de produção dos diferentes estágios de um sistema de mineração. A abordagem matemática adapta a modelagem clássica de problemas de sequenciamento considerando os blocos de lavra como tarefas e as atividades de escavação de galerias (desenvolvimento de acessos) e de produção de minério (lavra) como máquinas. Os modelos propostos são testados com base em casos reais, utilizando-se métodos de solução exata e um algoritmo genético. Os resultados computacionais mostram que o algoritmo genético é mais eficiente do que os métodos exatos, sobretudo para instâncias maiores, mais próximas da realidadeAbstract: Underground mining methods are used at the extraction of many metals and minerals. Underground mining planning differs from surface mining planning mainly because, in the first case, it is not necessary to extract all mining blocks within the ultimate economic limits to have a feasible sequence, i.e., it is physically possible to an underground mine to have some areas left \textit{in situ} even if they are inside the ultimate economic limits. Strategic planning is the core area of long-term mining planning and aims to define the scale of production, mining and processing methods, to select areas that will be mined, and to optimize the mining sequence. To guarantee the economic feasibility of a mining asset, strategic planners must also consider the key aspects of mining businesses, which are: capital-intensive requirements, long-term payback, and limited asset (reserves) life. These characteristics must be considered during the valuation process of a mining asset, which is normally conducted through NPV, net present value, calculations. Among the main strategic planning levers, cut-off grades (used at the selection of blocks that will be mined) and the mine sequencing are the ones that generate the greatest number of options. As scheduling multiple scenarios requires a great deal of time, this is infeasible in real situations given the need for quick responses. In this dissertation, three mathematical models are proposed to tackle, at the same time, two problems: the selection of the mining blocks in an underground mine, and the optimization of their sequence. These models consider NPV as the main objective to be maximized and result in using cut-off grades as a factor that balances the main capabilities of a mining system. The mathematical approach adapts classical scheduling models considering mining blocks as jobs; and tunnels excavation (access development) and ore production (mining) activities as machines. The proposed models are tested, with real cases, using exact-solution methods and a genetic algorithm. Results show that the genetic algorithm is more efficient than the exact methods, especially for greater instances that are similar to real problemsMestradoMatematica Aplicada e ComputacionalMestre em Matemática Aplicada e Computaciona

Underground mine scheduling under uncertainty

17 USC 105 interim-entered record; under review.The article of record as published may be found at http://dx.doi.org/10.1016/j.ejor.2021.01.011Underground mine schedules seek to determine start dates for activities related to the extraction of ore, often with an objective of maximizing net present value; constraints enforce geotechnical precedence between activities, and restrict resource consumption on a per-time-period basis, e.g., development footage and extracted tons. Strategic schedules address these start dates at a coarse level, whereas tactical schedules must account for the day-to-day variability of underground mine operations, such as unanticipated equipment breakdowns and ground conditions, both of which might slow production. At the time of this writing, the underground mine scheduling literature is dominated by a deterministic treatment of the problem, usually modeled as a Resource Constrained Project Scheduling Problem (RCPSP), which precludes mine operators from reacting to unforeseen circumstances. Therefore, we propose a stochastic integer programming framework that: (i) characterizes uncertainty in duration and economic value for each underground mining activity; (ii) formulates a new stochastic variant of the RCPSP; (iii) suggests an optimization-based heuristic; and, (iv) produces implementable, tactical schedules in a practical amount of time and provides corresponding managerial insights.National Institute of Occupational Safety and HealthNational Agency for Research and Development (ANID

Route Planning for Long-Term Robotics Missions

Many future robotic applications such as the operation in large uncertain environment depend on a more autonomous robot. The robotics long term autonomy presents challenges on how to plan and schedule goal locations across multiple days of mission duration. This is an NP-hard problem that is infeasible to solve for an optimal solution due to the large number of vertices to visit. In some cases the robot hardware constraints also adds the requirement to return to a charging station multiple times in a long term mission. The uncertainties in the robot model and environment require the robot planner to account for them beforehand or to adapt and improve its plan during runtime. The problem to be solved in this work is how to plan multiple day routes for a robot where all predefined locations must be visited only a single time and at each route the robot must start and return to the same initial position while respecting the daily maximum operation time constraint. The proposed solution uses problem definitions from the delivery industry and compares various metaheuristic based techniques for planning and scheduling the multiple day routes for a robotic mission. Therefore the problem of planning multiple day routes for a robot is modeled as a time constrained Vehicle Routing Problem where the robot daily plan is limited by how long the robot with a full charge can operate. The costs are modeled as the time a robot takes to move among locations considering robot and environment characteristics. The solution for this method is obtained in a two step process where a greedy initial solution is generated and then a local search is performed using meta-heuristic based methods. A custom time window formulation with respect to the theoretical maximum daily route is presented to add human expert input, priorities or expiration time to the planned routes allowing the planner to be flexible to various robotic applications. This thesis also proposes an intermediary mission control layer, that connects the daily route plan to the robot navigation layer. The goal of the Mission Control is to monitor the robot operation, continuously improve its route and adapt to unexpected events by dropping waypoints according to some defined penalties. This is an iterative process where optimization is performed locally in real time as the robot traverse its goals and offline at the end of each day with the remaining vertices. The performance of the various meta-heuristic and how optimization improves over time are analysed in several robotic route planning and scheduling scenarios. Two robotic simulation environments were built to demonstrate practical application of these methods. An unmanned ground vehicle operated fully autonomously using the presented methods in a simulated underground stone mine environment where the goal is to inspect the pillars for structural failures and a farm environment where the goal is to pollinate flowers with an attached robotic arm. All the optimization methods tested presented significant improvement in the total route costs compared to the initial Path-Cheapest-Arc solution. However the Guided Local Search presented a smaller standard deviation among the methods in most situations. The time-windows allowed for a seamless integration with an expert human input and the mission control layer, forced the robot to operate within the mission constraints by dynamically choosing the routes and the necessity of dropping some of the vertices

Solution procedures for block selection and sequencing in flat-bedded potash underground mines

Phosphates, and especially potash, play an essential role in the increase in crop yields. Potash is mined in Germany in underground mines using a conventional drill-and-blast technique. The most commercially valuable mineral contained in potash is the potassium chloride that is separated from the potash in aboveground processing plants. The processing plants perform economically best if the amount of potassium contained in the output is equal to a specific value, the so-called optimal operating point. Therefore, quality-oriented extraction plays a decisive role in reducing processing costs. In this paper, we mathematically formulate a block selection and sequencing problem with a quality-oriented objective function that aims at an even extraction of potash regarding the potassium content. We, thereby, have to observe some precedence relations, maximum and minimum limits of the output, and a quality tolerance range within a given planning horizon. We model the problem as a mixed-integer nonlinear program which is then linearized. We show that our problem is NP-hard in the strong sense with the result that a MILP-solver cannot find feasible solutions for the most challenging problem instances at hand. Accordingly, we develop a problem-specific constructive heuristic that finds feasible solutions for each of our test instances. A comprehensive experimental performance analysis shows that a sophisticated combination of the proposed heuristic with the mathematical program improves the feasible solutions achieved by the heuristic, on average, by 92.5%

Optimization of production planning in underground mining

Use of Integer programming (IP) or mixed integer programming (MIP) for formulation of mine optimization problem is best suited modelling approach for underground mining. Optimization algorithm for underground stope design problems cannot be generalised as geotechnical constraints for each method is different. This project concentrates on optimization model for open stoping mining method. The stope design model maximizes Net cash flow of the stope while adhering to the stope constraints. The methodology considers open stoping sequence, in which every block is moved towards the cross-cuts at the lower level. In this thesis, stopes are designed to maximize the undiscounted cash flow from the stope after satisfying stope height and extraction angle constraints. An integer programming formulation is developed and solved using CPLEX solver for single stope. The proposed algorithm is solved for first stope and then blocks for the crown pillar for first stope is identified. After eliminating the first stope and respective crown pillar data from the data set, algorithm is solved again for the second stope from the remaining data set. After stope design, production scheduling is done by applying heuristic approaches. Blocks from the stopes are extracted heuristically satisfying extracting angle, mining and processing constraints. Initially blocks from the first stope are selected and then to fulfil the constraints, some of the blocks from the second stope are selected. A study is carried out on the part of the Zinc mine data of India which contains 4992 number of blocks. Total 3 numbers of stopes are designed. The NPV of the considered data is found to be 7313.346 million rupees in 3 periods with total tonnage of 1.103 million tonnes. Metal content in 3 periods is found to be 86.485 thousand Tonnes. The overall dilution is found to be 3.82% with average dilution of 2.692

Applications of simulation and optimization techniques in optimizing room and pillar mining systems

The goal of this research was to apply simulation and optimization techniques in solving mine design and production sequencing problems in room and pillar mines (R&P). The specific objectives were to: (1) apply Discrete Event Simulation (DES) to determine the optimal width of coal R&P panels under specific mining conditions; (2) investigate if the shuttle car fleet size used to mine a particular panel width is optimal in different segments of the panel; (3) test the hypothesis that binary integer linear programming (BILP) can be used to account for mining risk in R&P long range mine production sequencing; and (4) test the hypothesis that heuristic pre-processing can be used to increase the computational efficiency of branch and cut solutions to the BILP problem of R&P mine sequencing. A DES model of an existing R&P mine was built, that is capable of evaluating the effect of variable panel width on the unit cost and productivity of the mining system. For the system and operating conditions evaluated, the result showed that a 17-entry panel is optimal. The result also showed that, for the 17-entry panel studied, four shuttle cars per continuous miner is optimal for 80% of the defined mining segments with three shuttle cars optimal for the other 20%. The research successfully incorporated risk management into the R&P production sequencing problem, modeling the problem as BILP with block aggregation to minimize computational complexity. Three pre-processing algorithms based on generating problem-specific cutting planes were developed and used to investigate whether heuristic pre-processing can increase computational efficiency. Although, in some instances, the implemented pre-processing algorithms improved computational efficiency, the overall computational times were higher due to the high cost of generating the cutting planes --Abstract, page iii